OpenRaiser/Intern-Atlas huggingface dataset:
Design and Development of a Modular Bucket Drum Excavator for Lunar ISRU
Venue: arXiv cs.RO 2025
Year: 2025

In-Situ Resource Utilization (ISRU) is one of the key technologies for enabling sustainable access to the Moon. The ability to excavate lunar regolith is the first step in making lunar resources accessible and usable. This work presents the development of a bucket drum for the modular robotic system MoonBot, as part of the Japanese Moonshot program. A 3D-printed prototype made of PLA was manufactured to evaluate its efficiency through a series of sandbox tests. The resulting tool weighs 4.8 kg and has a volume of 14.06 L. It is capable of continuous excavation at a rate of 777.54 kg/h with a normalized energy consumption of 0.022 Wh/kg. In batch operation, the excavation rate is 172.02 kg/h with a normalized energy consumption of 0.86 Wh per kilogram of excavated material. The obtained results demonstrate the successful implementation of the concept. A key advantage of the developed tool is its compatibility with the modular MoonBot robotic platform, which enables flexible and efficient mission planning. Further improvements may include the integration of sensors and an autonomous control system to enhance the excavation process.
VinDr-CXR-VQA: A Visual Question Answering Dataset for Explainable Chest X-Ray Analysis with Multi-Task Learning
Venue: arXiv cs.CV 2025
Year: 2025

We present VinDr-CXR-VQA, a large-scale chest X-ray dataset for explainable Medical Visual Question Answering (Med-VQA) with spatial grounding. The dataset contains 17,597 question-answer pairs across 4,394 images, each annotated with radiologist-verified bounding boxes and clinical reasoning explanations. Our question taxonomy spans six diagnostic types-Where, What, Is there, How many, Which, and Yes/No-capturing diverse clinical intents. To improve reliability, we construct a balanced distribution of 41.7% positive and 58.3% negative samples, mitigating hallucinations in normal cases. Benchmarking with MedGemma-4B-it demonstrates improved performance (F1 = 0.624, +11.8% over baseline) while enabling lesion localization. VinDr-CXR-VQA aims to advance reproducible and clinically grounded Med-VQA research. The dataset and evaluation tools are publicly available at huggingface.co/datasets/Dangindev/VinDR-CXR-VQA.
Text-guided Fine-Grained Video Anomaly Detection
Venue: arXiv cs.CV 2025
Year: 2025

Video Anomaly Detection (VAD) aims to identify anomalous events within video segments. In scenarios such as surveillance or industrial process monitoring, anomaly detection is of critical importance. While existing approaches are semi-automated, requiring human assessment for anomaly detection, traditional VADs offer limited output as either normal or anomalous. We propose Text-guided Fine-Grained Video Anomaly Detection (T-VAD), a framework built upon Large Vision-Language Model (LVLM). T-VAD introduces an Anomaly Heatmap Decoder (AHD) that performs pixel-wise visual-textual feature alignment to generate fine-grained anomaly heatmaps. Furthermore, we design a Region-aware Anomaly Encoder (RAE) that transforms the heatmaps into learnable textual embeddings, guiding the LVLM to accurately identify and localize anomalous events in videos. This significantly enhances both the granularity and interactivity of anomaly detection. The proposed method achieving SOTA performance by demonstrating 94.8% Area Under the Curve (AUC, specifically micro-AUC) and 67.8%/76.7% accuracy in anomaly heatmaps (RBDC/TBDC) on the UBnormal dataset, and subjectively verified more preferable textual description on the ShanghaiTech-based dataset (BLEU-4: 62.67 for targets, 88.84 for trajectories; Yes/No accuracy: 97.67%), and on the UBnormal dataset (BLEU-4: 50.32 for targets, 78.10 for trajectories; Yes/No accuracy: 89.73%).
Employee Performance when Implementing Agile Practices in an IT Workforce
Venue: arXiv cs.SE 2025
Year: 2025

Adoption of agile practices has increased in IT workforces. However, there is a lack of comprehensive studies in the African context on employee performance when implementing agile practices. This study addresses this gap by exploring employee performance in agile environments for IT workforces in South Africa. An interpretivist mono-method qualitative approach was used, with the use of interviews as a research strategy. Seventeen semi-structured interviews were conducted with agile practitioners from various roles. Our results indicated that agile practices influence employee performance significantly, with participants reporting on aspects which included planning, communication, employee development and well-being, collaboration, team culture and progress. Additionally, our results reported obstacles when using agile practices that included adoption, team engagement, leadership and instilling an agile mindset. Agile practices influence employee performance in IT workforces by fostering improved team dynamics, enhanced collaboration, improved efficiencies, risk management, planning, continuous improvement, learning, personal development and well-being. Conclusively, our findings suggest that if agile challenges are addressed and additional support is provided, employee performance can be significantly improved.
Agentic Auto-Scheduling: An Experimental Study of LLM-Guided Loop Optimization
Venue: arXiv cs.PL 2025
Year: 2025

Automatic code optimization remains a difficult challenge, particularly for complex loop nests on modern hardware. This paper investigates a novel approach to code optimization where Large Language Models (LLMs) guide the process through a closed-loop interaction with a compiler. We present ComPilot, an experimental framework that leverages off-the-shelf LLMs, without any task-specific fine-tuning, as interactive optimization agents. ComPilot establishes a feedback loop where an LLM proposes transformations for a given loop nest to a compiler. The compiler attempts the transformations, reporting back legality status and measured speedup or slowdown. The LLM utilizes this concrete feedback to iteratively refine its optimization strategy. Our extensive evaluation across the PolyBench benchmark suite demonstrates the effectiveness of this zero-shot approach. ComPilot achieves geometric mean speedups of 2.66x (single run) and 3.54x (best-of-5 runs) over the original code. Furthermore, ComPilot demonstrates competitive performance against the state-of-the-art Pluto polyhedral optimizer, outperforming it in many cases. This experimental study demonstrates that general-purpose LLMs can effectively guide the code optimization process when grounded by compiler feedback, opening promising research directions for agentic AI in code optimization.
Certain but not Probable? Differentiating Certainty from Probability in LLM Token Outputs for Probabilistic Scenarios
Venue: arXiv cs.CL 2025
Year: 2025

Reliable uncertainty quantification (UQ) is essential for ensuring trustworthy downstream use of large language models, especially when they are deployed in decision-support and other knowledge-intensive applications. Model certainty can be estimated from token logits, with derived probability and entropy values offering insight into performance on the prompt task. However, this approach may be inadequate for probabilistic scenarios, where the probabilities of token outputs are expected to align with the theoretical probabilities of the possible outcomes. We investigate the relationship between token certainty and alignment with theoretical probability distributions in well-defined probabilistic scenarios. Using GPT-4.1 and DeepSeek-Chat, we evaluate model responses to ten prompts involving probability (e.g., roll a six-sided die), both with and without explicit probability cues in the prompt (e.g., roll a fair six-sided die). We measure two dimensions: (1) response validity with respect to scenario constraints, and (2) alignment between token-level output probabilities and theoretical probabilities. Our results indicate that, while both models achieve perfect in-domain response accuracy across all prompt scenarios, their token-level probability and entropy values consistently diverge from the corresponding theoretical distributions.
Can Large Language Models Detect Real-World Android Software Compliance Violations?
Venue: arXiv cs.SE 2025
Year: 2025

The rapid development of Large Language Models (LLMs) has transformed software engineering, showing promise in tasks like code generation, bug detection, and compliance checking. However, current models struggle to detect compliance violations in Android applications across diverse legal frameworks. We propose \emph{CompliBench}, a novel evaluation framework for assessing LLMs' ability to detect compliance violations under regulations like LGPD, PDPA, and PIPEDA. The framework defines two tasks: Task 1 evaluates \emph{retrieval and localization} at file, module, and line granularities, and Task 2 assesses \emph{multi-label judgment} for code snippets. These tasks mirror the audit process, where auditors locate problematic code and determine implicated provisions. Traditional metrics fail to capture important aspects like cross-granularity stability and jurisdictional consistency. Thus, we introduce stability-aware composites (SGS, RCS, CRGS, and OCS) for a more comprehensive assessment. Experiments with six models, including GPT-4O and Claude-3.5, show \emph{CompliBench} improves compliance detection, with Claude-3.5-sonnet-20241022 achieving the highest OCS score (0.3295), and Gemini-2.5-pro the lowest (0.0538). This work demonstrates \emph{CompliBench}'s potential for improving LLM performance in compliance tasks and provides a foundation for future tools aligned with data protection standards. Our project is available at https://github.com/Haoyi-Zhang/CompliBench.
Node Preservation and its Effect on Crossover in Cartesian Genetic Programming
Venue: arXiv cs.NE 2025
Year: 2025

While crossover is a critical and often indispensable component in other forms of Genetic Programming, such as Linear- and Tree-based, it has consistently been claimed that it deteriorates search performance in CGP. As a result, a mutation-alone $(1+λ)$ evolutionary strategy has become the canonical approach for CGP. Although several operators have been developed that demonstrate an increased performance over the canonical method, a general solution to the problem is still lacking. In this paper, we compare basic crossover methods, namely one-point and uniform, to variants in which nodes are ``preserved,'' including the subgraph crossover developed by Roman Kalkreuth, the difference being that when ``node preservation'' is active, crossover is not allowed to break apart instructions. We also compare a node mutation operator to the traditional point mutation; the former simply replaces an entire node with a new one. We find that node preservation in both mutation and crossover improves search using symbolic regression benchmark problems, moving the field towards a general solution to CGP crossover.
Lifted Successor Generation in Numeric Planning
Venue: arXiv cs.AI 2025
Year: 2025

Most planners ground numeric planning tasks, given in a first-order-like language, into a ground task representation. However, this can lead to an exponential blowup in task representation size, which occurs in practice for hard-to-ground tasks. We extend a state-of-the-art lifted successor generator for classical planning to support numeric precondition applicability. The method enumerates maximum cliques in a substitution consistency graph. Each maximum clique represents a substitution for the variables of the action schema, yielding a ground action. We augment this graph with numeric action preconditions and prove the successor generator is exact under formally specified conditions. When the conditions fail, our generator may list inapplicable ground actions; a final applicability check filters these without affecting completeness. However, this cannot happen in 23 of 25 benchmark domains, and it occurs only in 1 domain. To the authors' knowledge, no other lifted successor generator supports numeric action preconditions. This enables future research on lifted planning for a very rich planning fragment.
Repairing Responsive Layout Failures Using Retrieval Augmented Generation
Venue: arXiv cs.SE 2025
Year: 2025

Responsive websites frequently experience distorted layouts at specific screen sizes, called Responsive Layout Failures (RLFs). Manually repairing these RLFs involves tedious trial-and-error adjustments of HTML elements and CSS properties. In this study, an automated repair approach, leveraging LLM combined with domain-specific knowledge is proposed. The approach is named ReDeFix, a Retrieval-Augmented Generation (RAG)-based solution that utilizes Stack Overflow (SO) discussions to guide LLM on CSS repairs. By augmenting relevant SO knowledge with RLF-specific contexts, ReDeFix creates a prompt that is sent to the LLM to generate CSS patches. Evaluation demonstrates that our approach achieves an 88\% accuracy in repairing RLFs. Furthermore, a study from software engineers reveals that generated repairs produce visually correct layouts while maintaining aesthetics.
Metadata-Aligned 3D MRI Representations for Contrast Understanding and Quality Control
Venue: arXiv cs.CV 2025
Year: 2025

Magnetic Resonance Imaging suffers from substantial data heterogeneity and the absence of standardized contrast labels across scanners, protocols, and institutions, which severely limits large-scale automated analysis. A unified representation of MRI contrast would enable a wide range of downstream utilities, from automatic sequence recognition to harmonization and quality control, without relying on manual annotations. To this end, we introduce MR-CLIP, a metadata-guided framework that learns MRI contrast representations by aligning volumetric images with their DICOM acquisition parameters. The resulting embeddings shows distinct clusters of MRI sequences and outperform supervised 3D baselines under data scarcity in few-shot sequence classification. Moreover, MR-CLIP enables unsupervised data quality control by identifying corrupted or inconsistent metadata through image-metadata embedding distances. By transforming routinely available acquisition metadata into a supervisory signal, MR-CLIP provides a scalable foundation for label-efficient MRI analysis across diverse clinical datasets.
Evolve to Inspire: Novelty Search for Diverse Image Generation
Venue: arXiv cs.CV 2025
Year: 2025

Text-to-image diffusion models, while proficient at generating high-fidelity images, often suffer from limited output diversity, hindering their application in exploratory and ideation tasks. Existing prompt optimization techniques typically target aesthetic fitness or are ill-suited to the creative visual domain. To address this shortcoming, we introduce WANDER, a novelty search-based approach to generating diverse sets of images from a single input prompt. WANDER operates directly on natural language prompts, employing a Large Language Model (LLM) for semantic evolution of diverse sets of images, and using CLIP embeddings to quantify novelty. We additionally apply emitters to guide the search into distinct regions of the prompt space, and demonstrate that they boost the diversity of the generated images. Empirical evaluations using FLUX-DEV for generation and GPT-4o-mini for mutation demonstrate that WANDER significantly outperforms existing evolutionary prompt optimization baselines in diversity metrics. Ablation studies confirm the efficacy of emitters.
A Couple of Simple Algorithms for $k$-Dispersion
Venue: arXiv cs.CG 2025
Year: 2025

Given a set $P$ of $n$ points in $\mathbf{R}^d$, and a positive integer $k \leq n$, the $k$-dispersion problem is that of selecting $k$ of the given points so that the minimum inter-point distance among them is maximized (under Euclidean distances). Among others, we show the following: (I) Given a set $P$ of $n$ points in the plane, and a positive integer $k \geq 2$, the $k$-dispersion problem can be solved by an algorithm running in $O\left(n^{k-1} \log{n}\right)$ time. This extends an earlier result for $k=3$, due to Horiyama, Nakano, Saitoh, Suetsugu, Suzuki, Uehara, Uno, and Wasa (2021) to arbitrary $k$. In particular, it improves on previous running times for small $k$. (II) Given a set $P$ of $n$ points in $\mathbf{R}^3$, and a positive integer $k \geq 2$, the $k$-dispersion problem can be solved by an algorithm running in $O\left(n^{k-1} \log{n}\right)$ time, if $k$ is even; and $O\left(n^{k-1} \log^2{n}\right)$ time, if $k$ is odd. For $k \geq 4$, no combinatorial algorithm running in $o(n^k)$ time was known for this problem. (III) Let $P$ be a set of $n$ random points uniformly distributed in $[0,1]^2$. Then under suitable conditions, a $0.99$-approximation for $k$-dispersion can be computed in $O(n)$ time with high probability.
Enhancing Heavy Rain Nowcasting with Multimodal Data: Integrating Radar and Satellite Observations
Venue: arXiv cs.LG 2025
Year: 2025

The increasing frequency of heavy rainfall events, which are a major cause of urban flooding, underscores the urgent need for accurate precipitation forecasting - particularly in urban areas where localized events often go undetected by ground-based sensors. In Germany, only 17.3% of hourly heavy rain events between 2001 and 2018 were recorded by rain gauges, highlighting the limitations of traditional monitoring systems. Radar data are another source that effectively tracks ongoing precipitation; however, forecasting the development of heavy rain using radar alone remains challenging due to the brief and unpredictable nature of such events. Our focus is on evaluating the effectiveness of fusing satellite and radar data for nowcasting. We develop a multimodal nowcasting model that combines both radar and satellite imagery for predicting precipitation at lead times of 5, 15, and 30 minutes. We demonstrate that this multimodal strategy significantly outperforms radar-only approaches. Experimental results show that integrating satellite data improves prediction accuracy, particularly for intense precipitation. The proposed model increases the Critical Success Index for heavy rain by 4% and for violent rain by 3% at a 5-minute lead time. Moreover, it maintains higher predictive skill at longer lead times, where radar-only performance declines. A qualitative analysis of the severe flooding event in the state of North Rhine-Westphalia, Germany in 2021 further illustrates the superior performance of the multimodal model. Unlike the radar-only model, which captures general precipitation patterns, the multimodal model yields more detailed and accurate forecasts for regions affected by heavy rain. This improved precision enables timely, reliable, life-saving warnings. Implementation available at https://github.com/RamaKassoumeh/Multimodal_heavy_rain
Erasing 'Ugly' from the Internet: Propagation of the Beauty Myth in Text-Image Models
Venue: arXiv cs.CV 2025
Year: 2025

Social media has exacerbated the promotion of Western beauty norms, leading to negative self-image, particularly in women and girls, and causing harm such as body dysmorphia. Increasingly content on the internet has been artificially generated, leading to concerns that these norms are being exaggerated. The aim of this work is to study how generative AI models may encode 'beauty' and erase 'ugliness', and discuss the implications of this for society. To investigate these aims, we create two image generation pipelines: a text-to-image model and a text-to-language model-to image model. We develop a structured beauty taxonomy which we use to prompt three language models (LMs) and two text-to-image models to cumulatively generate 5984 images using our two pipelines. We then recruit women and non-binary social media users to evaluate 1200 of the images through a Likert-scale within-subjects study. Participants show high agreement in their ratings. Our results show that 86.5% of generated images depicted people with lighter skin tones, 22% contained explicit content despite Safe for Work (SFW) training, and 74% were rated as being in a younger age demographic. In particular, the images of non-binary individuals were rated as both younger and more hypersexualised, indicating troubling intersectional effects. Notably, prompts encoded with 'negative' or 'ugly' beauty traits (such as "a wide nose") consistently produced higher Not SFW (NSFW) ratings regardless of gender. This work sheds light on the pervasive demographic biases related to beauty standards present in generative AI models -- biases that are actively perpetuated by model developers, such as via negative prompting. We conclude by discussing the implications of this on society, which include pollution of the data streams and active erasure of features that do not fall inside the stereotype of what is considered beautiful by developers.
FREESH: Fair, Resource- and Energy-Efficient Scheduling for LLM Serving on Heterogeneous GPUs
Venue: arXiv cs.DC 2025
Year: 2025

The ever-increasing computation and energy demand for LLM and AI agents call for holistic and efficient optimization of LLM serving systems. In practice, heterogeneous GPU clusters can be deployed in a geographically distributed manner, while LLM load also observes diversity in terms of both query traffic and serving patterns. LLM queries running on advanced GPUs during a high-emission hour at one location can lead to significantly higher carbon footprints versus same queries running on mid-level GPUs at a low-emission time and location. By observing LLM serving requirements and leveraging spatiotemporal computation flexibility, we consider the joint routing and scheduling problem, and propose FREESH to cooperatively run a group of data centers while minimizing user-specified carbon or energy objectives. FREESH identifies the optimal configurations of balanced load serving by matching distinct GPU instance's power-throughput characteristics with predictable LLM query length and workloads. To ensure both latency and fairness requirements, FREESH identifies optimized parallelism and query routing schedules together with dynamic GPU frequency scaling for power saving, and Least-Laxity-First (LLF) serving strategy for query scheduling. During the 1-hour serving on production workloads, FREESH reduces energy by 28.6% and emissions by 45.45% together with improvements in SLO attainment and fairness.
TA-LSDiff:Topology-Aware Diffusion Guided by a Level Set Energy for Pancreas Segmentation
Venue: arXiv cs.CV 2025
Year: 2025

Pancreas segmentation in medical image processing is a persistent challenge due to its small size, low contrast against adjacent tissues, and significant topological variations. Traditional level set methods drive boundary evolution using gradient flows, often ignoring pointwise topological effects. Conversely, deep learning-based segmentation networks extract rich semantic features but frequently sacrifice structural details. To bridge this gap, we propose a novel model named TA-LSDiff, which combined topology-aware diffusion probabilistic model and level set energy, achieving segmentation without explicit geometric evolution. This energy function guides implicit curve evolution by integrating the input image and deep features through four complementary terms. To further enhance boundary precision, we introduce a pixel-adaptive refinement module that locally modulates the energy function using affinity weighting from neighboring evidence. Ablation studies systematically quantify the contribution of each proposed component. Evaluations on four public pancreas datasets demonstrate that TA-LSDiff achieves state-of-the-art accuracy, outperforming existing methods. These results establish TA-LSDiff as a practical and accurate solution for pancreas segmentation.